lerobot-robot-dummy 1.0.0

Dummy Follower Arm integration for debugging with LeRobot

LeRobot Dummy Follower Arm

This is a Virtual Follower Arm integration designed for the LeRobot framework. Its primary purpose is debugging: it does not drive any real hardware but instead prints the received control commands (Actions) directly to the terminal.

How it Works

1. Action Listening: It implements the Robot base class and receives position commands from the Leader via send_action.
2. Feature Alignment: To work with a specific Leader, it declares matching joint names (motor names).
3. Debug Output: Whenever the Leader sends a command, the Dummy arm outputs: [DEBUG DUMMY] Received Action: ... to the console.
4. Silent Mode: You can disable all terminal output by setting the silent configuration to True.

Installation

Navigate to the directory and install in editable mode:

cd lerobot-robot-dummy
pip install -e .

Usage

1. Using with Seeed B601 Leader (Default Configuration)

The Dummy arm's default motor names are aligned with the Seeed B601 (shoulder_pan, shoulder_lift, etc.), so you can run it directly:

lerobot-teleoperate \
    --robot.type=dummy_follower \
    --robot.id=dummy1 \
    --teleop.type=seeed_b601_dm_leader \
    --teleop.port=/dev/ttyACM0 \
    --teleop.can_adapter=damiao

2. Running in Silent Mode (Quiet Mode)

If you want to suppress the terminal output (e.g., to keep the console clean while testing other components), add the --robot.silent=True flag:

lerobot-teleoperate \
    --robot.type=dummy_follower \
    --robot.id=dummy_quiet \
    --robot.silent=True \
    --teleop.type=seeed_b601_dm_leader \
    ...

3. Using with Other Leaders (Dynamic Motor Names)

If you want to use it with other robots (e.g., xArm or a custom arm), you can pass the corresponding joint names via the --robot.motor_names command-line argument.

For example, if your Leader only has 3 joints [joint1, joint2, gripper]:

lerobot-teleoperate \
    --robot.type=dummy_follower \
    --robot.id=dummy_custom \
    --robot.motor_names="['joint1', 'joint2', 'gripper']" \
    --teleop.type=your_custom_leader \
    ...

Notes

• Feedback (Observation): Since there is no physical hardware, the Dummy arm always returns 0.0 for the current position.
• Frequency Control: It has no hardware latency; its operating frequency depends entirely on the Leader's transmission rate.
• Abstract Methods: This implementation fully satisfies the Robot base class requirements including calibrate, configure, and is_calibrated.